https://github.com/LittleAprilFool/camera-calibration

Camera calibration&Bird's-eye view transformation
https://github.com/LittleAprilFool/camera-calibration

Last synced: 4 months ago
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Camera calibration&Bird's-eye view transformation

• Host: GitHub
• URL: https://github.com/LittleAprilFool/camera-calibration
• Owner: LittleAprilFool
• Created: 2016-01-31T12:05:08.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2016-01-31T12:06:19.000Z (over 8 years ago)
• Last Synced: 2024-01-16T05:30:18.408Z (5 months ago)
• Language: C++
• Size: 6.02 MB
• Stars: 13
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Lists

• Awesome-Autonomous-Driving - camera-calibration - (2. Sensor and Calibration Tools / 2.2 Calibration Tools)

README

        
#摄像机标定与俯瞰视角变换

#### 摄像机标定及俯瞰视角变换

> 1. Camera calibration

> 2. Bird's-eye view transformation

## 一、开发软件说明

### 开发环境

- Ubuntu 14.04

- cmake 2.8.12.2

- opencv 3.0

### 运行方式

- build project `make all`

- run `./camera 8 6 5 3`

## 二、算法具体步骤

#### 2.1 通过摄像头获取适合计算的图像

- 每隔一段时间取当前一帧

- 通过cvFindeCornerSubPix函数寻找图像中的棋盘

- 如果棋盘符合输入参数条件的话，保持该棋盘数据

#### 2.2 计算相机内参数矩阵和变形矩阵

- cvCalibrateCamera2函数计算相机内参数矩阵和变形矩阵

	

#### 2.3 矫正后的摄像头

- 将摄像头的每一帧图像矫正后输出

- 需要用到cvInitUndistortMap与cvRemap函数

#### 2.4 获取一张棋盘在水平面上的图

- 通过摄像头获取一张棋盘在水平面上的图

#### 2.5 生成鸟瞰图

- 需要用到cvWarpPerspective函数

## 三、算法实现要点

#### 3.1 通过摄像头获取适合计算的图像

![](./pic/31.tiff)

#### 3.2 计算相机内参数矩阵和变形矩阵

![](./pic/32.tiff)	

#### 3.3 矫正后的摄像头

![](./pic/33.tiff)

#### 3.4 获取一张棋盘在水平面上的图

![](./pic/34.tiff)

#### 3.5 生成鸟瞰图

![](./pic/35.tiff)

## 四、实验结果展示及分析

#### 4.1 通过摄像头获取适合计算的图像

![](./pic/get1.tiff)

![](./pic/get2.tiff)

![](./pic/get3.tiff)

![](./pic/get4.tiff)

![](./pic/get5.tiff)

#### 4.2 矫正后的摄像头

![](./pic/result1.tiff)

#### 4.3 获取一张棋盘在水平面上的图

![](./pic/bird-eye.jpg)

#### 4.4 生成鸟瞰图

![](./pic/result2.tiff)

![](./pic/result3.tiff)